Manual knife bailout monitoring using inductive coupling

ABSTRACT

A robotic surgical tool includes a tool driver, and a drive housing inductively coupled to the tool driver when mounted to the tool driver and generating a magnetic field, the drive housing including one or more component parts made of or including a magnetically responsive material. A computer system is programmed to process an intensity of the magnetic field and a field distortion caused by the one or more component parts, and further programmed to generate a notification when the field distortion changes

BACKGROUND

Minimally invasive surgical (MIS) instruments are often preferred overtraditional open surgical devices due to the reduced post-operativerecovery time and minimal scarring. The most common MIS procedure may beendoscopy, and the most common form of endoscopy is laparoscopy, inwhich one or more small incisions are formed in the abdomen of a patientand a trocar is inserted through the incision to form a pathway thatprovides access to the abdominal cavity. The trocar is used to introducevarious instruments and tools into the abdominal cavity, as well as toprovide insufflation to elevate the abdominal wall above the organs. Theinstruments can be used to engage and/or treat tissue in a number ofways to achieve a diagnostic or therapeutic effect.

Each surgical tool typically includes an end effector arranged at itsdistal end. Example end effectors include clamps, graspers, scissors,staplers, and needle holders, and are similar to those used inconventional (open) surgery except that the end effector of each tool isseparated from its handle by an approximately 12-inch long, shaft. Acamera or image capture device, such as an endoscope, is also commonlyintroduced into the abdominal cavity to enable the surgeon to view thesurgical field and the operation of the end effectors during operation.The surgeon is able to view the procedure in real-time by means of avisual display in communication with the image capture device.

Surgical staplers are one type of end effector capable of cutting andsimultaneously stapling (fastening) transected tissue. Alternatelyreferred to as an “endocutter,” the surgical stapler includes opposingjaws capable of opening and closing to grasp and release tissue. Oncetissue is grasped or clamped between the opposing jaws, the end effectormay be “fired” to advance a cutting element or knife distally totransect grasped tissue. As the cutting element advances, staplescontained within the end effector are progressively deployed to sealopposing sides of the transected tissue.

Some surgical staplers include a knife bailout mechanism or system thatallows the user to manually retract the knife in the event of anemergency, such as a loss of power. It may be desirable to communicatethe status of a manual knife bailout system to the user, but includingvarious sensors in the end effector to sense whether the knife is beingmanually bailed out may not be feasible.

BRIEF DESCRIPTION OF THE DRAWINGS

The following figures are included to illustrate certain aspects of thepresent disclosure, and should not be viewed as exclusive embodiments.The subject matter disclosed is capable of considerable modifications,alterations, combinations, and equivalents in form and function, withoutdeparting from the scope of this disclosure.

FIG. 1 is a block diagram of an example robotic surgical system that mayincorporate some or all of the principles of the present disclosure.

FIG. 2 is an example embodiment of one of the master control consoles ofFIG. 1.

FIG. 3 depicts one example of the robotic manipulator of FIG. 1,according to one or more embodiments.

FIG. 4 is an isometric side view of an example surgical tool that mayincorporate some or all of the principles of the present disclosure.

FIG. 5 illustrates potential degrees of freedom in which the wrist ofFIG. 4 may be able to articulate (pivot).

FIG. 6 is an enlarged isometric view of the drive housing of FIG. 4.

FIG. 7 is a bottom view of the drive housing of FIG. 4, according to oneor more embodiments.

FIGS. 8A and 8B are cross-sectional side views of the drive housing ofFIGS. 4 and 7 inductively coupled to the tool driver of FIG. 7,according to one or more embodiments.

FIG. 9 illustrates an example embodiment of the computer system of FIG.7.

DETAILED DESCRIPTION

The present disclosure is related to robotic surgical instruments and,more particularly, to systems and methods of sensing when a manual knifebailout system for a robotic surgical tool has been activated or isabout to be activated.

Embodiments discussed herein describe a robotic surgical tool that has atool driver in communication with a computer system, and a drive housingmountable to the tool driver and including one or more component partsmade of or including a magnetically responsive material. A firstinductor coil may be included on the tool driver and configured togenerate a magnetic field, and a second inductor coil may be included onthe drive housing and configured to measure an intensity of the magneticfield and a field distortion caused by the one or more component parts.When a change in the field distortion is measured, that may be anindication of movement of the one or more component parts. In someembodiments, the one or more component parts form part of a manual knifebailout system, and measuring the change in the field distortion mayprovide an indication that the manual knife bailout system has beenactivated or is about to be activated. When the change in fielddistortion is measures, the computer system may provide a notificationto a user (e.g., a surgeon, a scrub nurse, etc.) of the status change.

FIGS. 1-3 illustrate the structure and operation of an example roboticsurgical system and associated components thereof. While applicable torobotic surgical systems, it is noted that the principles of the presentdisclosure may alternatively be applied to non-robotic surgical systems,without departing from the scope of the disclosure.

FIG. 1 is a block diagram of an example robotic surgical system 100 thatmay incorporate some or all of the principles of the present disclosure.As illustrated, the system 100 can include at least one master controlconsole 102 a and at least one robotic manipulator 104. The roboticmanipulator 104 may be mechanically and/or electrically coupled to orotherwise include one or more robotic arms 106. In some embodiments, therobotic manipulator 104 may be mounted to a transport cart (alternatelyreferred to as an “arm cart”) that enables mobility of the roboticmanipulator 104 and the associated robotic arms 106. Each robotic arm106 may include and otherwise provide a tool driver where one or moresurgical instruments or tools 108 may be mounted for performing varioussurgical tasks on a patient 110. Operation of the robotic arms 106, thecorresponding tool drivers, and the associated tools 108 may be directedby a clinician 112 a (e.g., a surgeon) from the master control console102 a.

In some embodiments, a second master control console 102 b (shown indashed lines) operated by a second clinician 112 b may also help directoperation of the robotic arms 106 and the tools 108 in conjunction withthe first clinician 112 a. In such embodiments, for example, eachclinician 112 a,b may control different robotic arms 106 or, in somecases, complete control of the robotic arms 106 may be passed betweenthe clinicians 112 a,b. In some embodiments, additional roboticmanipulators having additional robotic arms may be utilized duringsurgery on a patient 110, and these additional robotic arms may becontrolled by one or more of the master control consoles 102 a,b.

The robotic manipulator 104 and the master control consoles 102 a,b maycommunicate with one another via a communications link 114, which may beany type of wired or wireless communications link configured to carrysuitable types of signals (e.g., electrical, optical, infrared, etc.)according to any communications protocol. The communications link 114may be an actual physical link or it may be a logical link that uses oneor more actual physical links. When the link is a logical link the typeof physical link may be a data link, uplink, downlink, fiber optic link,point-to-point link, for example, as is well known in the computernetworking art to refer to the communications facilities that connectnodes of a network. Accordingly, the clinicians 112 a,b may be able toremotely control operation of the robotic arms 106 via thecommunications link 114, thus enabling the clinicians 112 a,b to operateon the patient 110 remotely.

FIG. 2 is one example embodiment of the master control console 102 athat may be used to control operation of the robotic manipulator 104 ofFIG. 1. As illustrated, the master control console 102 a can include asupport 202 on which the clinician 112 a,b (FIG. 1) can rest his/herforearms while gripping one or more user input devices (not shown). Theuser input devices can comprise, for example, physical controllers suchas, but not limited to, hand-held actuator modules, a joystick,exoskeletal gloves, a master manipulator, etc., and may be movable inmultiple degrees of freedom to control the position and operation of thesurgical tool(s) 108 (FIG. 1). The master control console 102 a mayfurther include one or more foot pedals 204 engageable by the clinician112 a,b to change the configuration of the surgical system and/orgenerate additional control signals to control operation of the surgicaltool(s) 108.

The user input devices and/or the foot pedals 204 may be manipulatedwhile the clinician 112 a,b (FIG. 1) views the procedure via a visualdisplay 206. Images displayed on the visual display 206 may be obtainedfrom an endoscopic camera or “endoscope.” In some embodiments, thevisual display 206 may include or otherwise incorporate a force feedbackmeter or “force indicator” that provides the clinician 112 a,b with avisual indication of the magnitude of force being assumed by thesurgical tool (i.e., a cutting instrument or dynamic clamping member)and in which direction. As will be appreciated, other sensorarrangements may be employed to provide the master control console 102 awith an indication of other surgical tool metrics, such as whether astaple cartridge has been loaded into an end effector or whether ananvil has been moved to a closed position prior to firing, for example.

FIG. 3 depicts one example of the robotic manipulator 104 that may beused to operate a plurality of surgical tools 108, according to one ormore embodiments. As illustrated, the robotic manipulator 104 mayinclude a base 302 that supports a vertically extending column 304. Aplurality of robotic arms 106 (three shown) may be operatively coupledto the column 304 at a carriage 306 that can be selectively adjusted tovary the height of the robotic arms 106 relative to the base 302, asindicated by the arrow A.

The robotic arms 106 may comprise manually articulable linkages,alternately referred to as “set-up joints.” In the illustratedembodiment, a surgical tool 108 is mounted to corresponding tool drivers308 provided on each robotic arm 106. Each tool driver 308 may includeone or more drivers or motors used to interact with a corresponding oneor more drive inputs of the surgical tools 108, and actuation of thedrive inputs causes the associated surgical tool 108 to operate.

One of the surgical tools 108 may comprise an image capture device 310,such as an endoscope, which may include, for example, a laparoscope, anarthroscope, a hysteroscope, or may alternatively include some otherimaging modality, such as ultrasound, infrared, fluoroscopy, magneticresonance imaging, or the like. The image capture device 310 has aviewing end located at the distal end of an elongate shaft, whichpermits the viewing end to be inserted through an entry port into aninternal surgical site of a patient's body. The image capture device 310may be communicably coupled to the visual display 206 (FIG. 2) andcapable of transmitting images in real-time to be displayed on thevisual display 206.

The remaining surgical tools may be communicably coupled to the userinput devices held by the clinician 112 a,b (FIG. 1) at the mastercontrol console 102 a (FIG. 2). Movement of the robotic arms 106 andassociated surgical tools 108 may be controlled by the clinician 112 a,bmanipulating the user input devices. As described in more detail below,the surgical tools 108 may include or otherwise incorporate an endeffector mounted on a corresponding articulable wrist pivotally mountedon a distal end of an associated elongate shaft. The elongate shaftpermits the end effector to be inserted through entry ports into theinternal surgical site of a patient's body, and the user input devicesalso control movement (actuation) of the end effector.

In use, the robotic manipulator 104 is positioned close to a patientrequiring surgery and is then normally caused to remain stationary untila surgical procedure to be performed has been completed. The roboticmanipulator 104 typically has wheels or casters to render it mobile. Thelateral and vertical positioning of the robotic arms 106 may be set bythe clinician 112 a,b (FIG. 1) to facilitate passing the elongate shaftsof the surgical tools 108 and the image capture device 310 through theentry ports to desired positions relative to the surgical site. When thesurgical tools 108 and image capture device 310 are so positioned, therobotic arms 106 and carriage 306 can be locked in position.

FIG. 4 is an isometric side view of an example surgical tool 400 thatmay incorporate some or all of the principles of the present disclosure.The surgical tool 400 may be the same as or similar to at least one ofthe surgical tools 108 of FIGS. 1 and 3 and, therefore, may be used inconjunction with a robotic surgical system, such as the robotic surgicalsystem 100 of FIG. 1. As illustrated, the surgical tool 400 includes anelongated shaft 402, an end effector 404, an articulable wrist 406(alternately referred to as a “wrist joint”) that couples the endeffector 404 to the distal end of the shaft 402, and a drive housing 408coupled to the proximal end of the shaft 402. In applications where thesurgical tool 400 is used in conjunction with a robotic surgical system,the drive housing 408 can include coupling features that releasablycouple the surgical tool 400 to the robotic surgical system. Theprinciples of the present disclosure, however, are equally applicable tosurgical tools that are non-robotic and otherwise capable of manualmanipulation.

The terms “proximal” and “distal” are defined herein relative to arobotic surgical system having an interface configured to mechanicallyand electrically couple the surgical tool 400 (e.g., the drive housing408) to a robotic manipulator. The term “proximal” refers to theposition of an element closer to the robotic manipulator and the term“distal” refers to the position of an element closer to the end effector404 and thus further away from the robotic manipulator. Moreover, theuse of directional terms such as above, below, upper, lower, upward,downward, left, right, and the like are used in relation to theillustrative embodiments as they are depicted in the figures, the upwardor upper direction being toward the top of the corresponding figure andthe downward or lower direction being toward the bottom of thecorresponding figure.

The surgical tool 400 can have any of a variety of configurationscapable of performing one or more surgical functions. In the illustratedembodiment, the end effector 404 comprises a surgical stapler,alternately referred to as an “endocutter,” configured to cut and staple(fasten) tissue. As illustrated, the end effector 404 includes opposingjaws 410, 412 configured to move (articulate) between open and closedpositions. The opposing jaws 410, 412, however, may alternately formpart of other types of end effectors that include jaws such as, but notlimited to, tissue graspers, surgical scissors, advanced energy vesselsealers, clip appliers, needle drivers, a babcock including a pair ofopposed grasping jaws, bipolar jaws (e.g., bipolar Maryland grasper,forceps, a fenestrated grasper, etc.), etc. One or both of the jaws 410,412 may be configured to pivot to actuate the end effector 404 betweenthe open and closed positions. In the illustrated example, the secondjaw 412 is rotatable (pivotable) relative to the first jaw 410 to movebetween an open, unclamped position and a closed, clamped position. Inother embodiments, however, the first jaw 410 may move (rotate) relativeto the second jaw 412, without departing from the scope of thedisclosure.

In the illustrated example, the first jaw 410 may be characterized orotherwise referred to as a “cartridge” jaw, and the second jaw 412 maybe characterized or otherwise referred to as an “anvil” jaw. The firstjaw 410 may include a frame that houses or supports a staple cartridge,and the second jaw 412 is pivotally supported relative to the first jaw410 and defines a surface that operates as an anvil to deform staplesejected from the staple cartridge during operation.

The wrist 406 enables the end effector 404 to articulate (pivot)relative to the shaft 402 and thereby position the end effector 404 atdesired orientations and locations relative to a surgical site. FIG. 5illustrates the potential degrees of freedom in which the wrist 406 maybe able to articulate (pivot). The wrist 406 can have any of a varietyof configurations. In general, the wrist 406 comprises a jointconfigured to allow pivoting movement of the end effector 404 relativeto the shaft 402. The degrees of freedom of the wrist 406 arerepresented by three translational variables (i.e., surge, heave, andsway), and by three rotational variables (i.e., Euler angles or roll,pitch, and yaw). The translational and rotational variables describe theposition and orientation of a component of a surgical system (e.g., theend effector 404) with respect to a given reference Cartesian frame. Asdepicted in FIG. 5, “surge” refers to forward and backward translationalmovement, “heave” refers to translational movement up and down, and“sway” refers to translational movement left and right. With regard tothe rotational terms, “roll” refers to tilting side to side, “pitch”refers to tilting forward and backward, and “yaw” refers to turning leftand right.

The pivoting motion can include pitch movement about a first axis of thewrist 406 (e.g., X-axis), yaw movement about a second axis of the wrist406 (e.g., Y-axis), and combinations thereof to allow for 360°rotational movement of the end effector 404 about the wrist 406. Inother applications, the pivoting motion can be limited to movement in asingle plane, e.g., only pitch movement about the first axis of thewrist 406 or only yaw movement about the second axis of the wrist 406,such that the end effector 404 moves only in a single plane.

Referring again to FIG. 4, the surgical tool 400 may incorporate orinclude an actuation system designed to facilitate articulation of thewrist 406 and actuation (operation) of the end effector 404 (e.g.,clamping, firing, rotation, articulation, energy delivery, etc.). Theactuation system may include a plurality of drive members or the like(obscured in FIG. 4) that extend from the drive housing 408 to the wrist406, and selective actuation of these drive members causes the endeffector 404 to articulate (pivot) relative to the shaft 402 at thewrist 406. The end effector 404 is depicted in FIG. 4 in theunarticulated position where a longitudinal axis A₂ of the end effector404 is substantially aligned with the longitudinal axis A₁ of the shaft402, such that the end effector 404 is at a substantially zero anglerelative to the shaft 402. In the articulated position, the longitudinalaxes A₁, A₂ would be angularly offset from each other such that the endeffector 404 is at a non-zero angle relative to the shaft 402.

Other drive members may extend to the end effector 404, and selectiveactuation of those drive members may cause the end effector 404 toactuate (operate). Actuating the end effector 404 may include closingand/or opening the second jaw 412 relative to the first jaw 410 (or viceversa), thereby enabling the end effector 404 to grasp (clamp) ontotissue. Once tissue is grasped or clamped between the opposing jaws 410,412, actuating the end effector 404 may further include “firing” the endeffector 404, which may refer to causing a cutting element or knife (notvisible) to advance distally within a slot 414 defined in the second jaw410. As it moves distally, the cutting element may transect any tissuegrasped between the opposing jaws 410, 412. Moreover, as the cuttingelement advances distally, a plurality of staples contained within thestaple cartridge (e.g., housed within the first jaw 410) may be urged(cammed) into deforming contact with corresponding anvil surfaces (e.g.,pockets) provided on the second jaw 412. The deployed staples may formmultiple rows of staples that seal opposing sides of the transectedtissue.

In some applications, the surgical tool 400 may also be configured toapply energy to tissue, such as radio frequency (RF) energy. In suchcases, actuating the end effector 404 may further include applyingenergy to tissue grasped or clamped between two opposing jaws tocauterize or seal the captured tissue, following which the tissue may betransected.

The surgical tool 400 may further include a manual jaw bailout systemthat enables a user to manually open and close the jaws 410, 412. In theillustrated embodiment, the manual jaw bailout system may include abailout tool 416 accessible to a user on the exterior of the drivehousing 408. The bailout tool 416 may be operatively coupled to variousgears and/or drive members located within the drive housing 408 to allowa clinician to manually open and close the jaws 410, 412. By rotatingthe bailout tool 416 in either angular direction, a clinician may beable to fully clamp and fully unclamp the jaws 410, 412. The bailouttool 416 may be particularly useful to a clinician when the surgicaltool 400 is detached from a surgical robot, since having the capabilityto open and close the jaws 410, 412 may eliminate the need to placeinadvertent stress on internal drive members or components. In the eventthat a clinician desires to manually open the jaws 410, 412 when thesurgical tool 400 is still attached to a surgical robot, the cliniciancan rotate the bailout tool 416 in an attempt to open the end effector404.

FIG. 6 is an enlarged isometric view of the drive housing 408. In someembodiments, the surgical tool 400 may include a manual knife bailoutsystem that allows a user to manually retract the knife (cuttingelement) at the end effector 404 (FIG. 4). The manual knife bailoutsystem includes various component parts, such as a bailout tool 602accessible to a user and configured to mate with a bailout cap 604 tocause knife retraction. The bailout cap 604 may include or otherwiseprovide one or more surface features 606 configured to interact withcorresponding engagement features (not shown) provided on the bottom ofthe bailout tool 602. Each surface feature 606 may be ramped in oneangular direction and terminate at a raised shoulder. The engagementfeatures of the bailout tool 602 may be configured to engage the raisedshoulders of the surface features 606 when the bailout tool 602 isrotated in a first direction (e.g., counter-clockwise), thustransmitting torque from the bailout tool 602 to the bailout cap 604. Incontrast, when the bailout tool 602 is rotated in a second direction(e.g., clockwise), the engagement features may traverse (ride up) andratchet over the surface features 606. Accordingly, the bailout cap 604may operate as a unidirectional transfer member.

In example use of the manual knife bailout system, a user rotating thebailout tool 602 in the first direction (e.g., counter-clockwise) willdrive the bailout cap 604 in the same direction and thereby cause thegears of the firing system to rotate, which will rotate the firingpinion and thereby retract a firing rack so that an interconnectedfiring rod (not shown) can retract the knife at the end effector 404(FIG. 4). When the bailout tool 602 is rotated in the second direction(e.g., clockwise), however, the bailout tool 602 will ratchet over thesurface features 606 and otherwise rotate relative to the bailout cap604, thus not affecting the position of the firing rod or the knife.

In the illustrated embodiment, the bailout tool 602 comprises a separatecomponent part stored within the drive housing 408 and is accessible tothe user by first removing a bailout panel 608 from the body of thedrive housing 408. As illustrated, the bailout tool 602 may be seatedwithin a pocket 610 and the user may remove the bailout tool 602 fromthe pocket 610 and mate it with the bailout cap 604 to manually retractthe knife. In other embodiments, however, the bailout tool 602 may belocated on the exterior of the drive housing 408 and extend through thebailout panel 608 of the drive housing 408 to be operatively coupled tothe bailout cap 604. In yet other embodiments, the bailout tool 602 maybe attached to or form part of the bottom (underside) of the bailoutpanel 608. In such embodiments, the clinician may remove the bailoutpanel 608 and align the interconnected bailout tool 602 with the bailoutcap 604, thus converting the removable bailout panel 608 into a type ofwrench.

FIG. 7 is a bottom view of the drive housing 408, according to one ormore embodiments. As illustrated, the drive housing 408 may include atool mounting portion 702 used to operatively couple the drive housing408 to a tool driver 704. The tool driver 704 may be the same as orsimilar to the tool drivers 308 of FIG. 3, and may thus be operable inconjunction with the robotic manipulator 104 of FIGS. 1 and 3. Mountingthe drive housing 408 to the tool driver 704 places the drive housing408 in communication with a computer system 706, which may communicatewith or otherwise form part of the master controllers 102 a,b (FIG. 1).The computer system 706 monitors and directs operation of the drivehousing 408 via operation of the tool driver 704, thus enabling a user(e.g., the clinicians 112 a,b of FIG. 1) to control operation of thedrive housing 408 by working through the master controller 102 a,b.

The tool mounting portion 702 includes and otherwise provides aninterface that mechanically, magnetically, and/or electrically couplesthe drive housing 408 to the tool driver 704. In at least oneembodiment, the tool mounting portion 702 couples the drive housing 408to the tool driver 704 via a sterile barrier (not shown). Asillustrated, the interface can include and support a plurality ofinputs, shown as drive inputs 708 a, 708 b, 708 c, 708 d, 708 e, and 708f. Each drive input 708 a-f may comprise a rotatable disc configured toalign (mate) with and couple to a corresponding driver 710 a, 710 b, 710c, 710 d, 710 e, and 710 f of the tool driver 704. Each drive input 708a-f and corresponding driver 710 a-f provide or define one or morematable surface features 712 and 714, respectively, configured tofacilitate mating engagement between the opposing surface features 712,714 such that movement (rotation) of a given driver 710 a-fcorrespondingly moves (rotates) the associated drive input 708 a-f.

Each driver 710 a-f may include or otherwise comprise a motor 716configured to actuate the corresponding driver 710 a-f, and actuation ofa given driver 710 a-f correspondingly causes actuation of the mateddrive input 708 a-f, which facilitates operation of the mechanics of thedrive housing 408. More specifically, actuation of a given motor 716 maycause rotational movement of the corresponding driver 710 a-f, which, inturn, rotates the associated drive input 708 a-f operatively coupledthereto. Each motor 716 may be in communication with the computer system706 and, based on input signals provided by a user (e.g., a surgeon),the computer system 706 may selectively cause any of the motors 716 toactuate and thereby drive the corresponding driver 710 a-f to operatethe mechanical systems of the drive housing 408.

In some embodiments, actuation of the first drive input 708 a via thefirst driver 710 a may control rotation of the shaft 402 about itslongitudinal axis A₁. Depending on the rotational direction of the firstdrive input 708 a, the shaft 402 can be rotated clockwise orcounter-clockwise, thus correspondingly rotating the end effector 404(FIG. 4) in the same direction. Actuation of the second and third driveinputs 708 b,c via the second and third drivers 710 a,b, respectively,may control articulation of the end effector 404 at the wrist 406 (FIG.4). Actuation of the fourth and fifth drive inputs 708 d,e via thefourth and fifth drivers 710 d,e, respectively, may cause an outerportion of the shaft 402 (referred to herein as a “closure tube”) toadvance and retract, which closes and opens the jaws 410, 412 (FIG. 4).Lastly, actuation of the sixth drive input 708 f via the sixth driver710 f may cause the end effector 404 to fire, which may entail distaldeployment of a knife (cutting element) to transect tissue grasped bythe jaws 410, 412 and simultaneous deployment of staples containedwithin the staple cartridge housed within the first jaw 410.

The drive housing 408 may house or otherwise include an internalcomputer 722 that may include a memory 724 and/or a microprocessor 726.The memory 724 may include one or more databases or libraries that storedata relating to the drive housing 408 and, more particularly, to thesurgical tool 400 (FIG. 4). In some embodiments, the memory 724 mayinclude non-transitory, computer-readable media such as a read-onlymemory (ROM), which may be PROM, EPROM, EEPROM, or the like.

Mounting (coupling) the tool mounting portion 702 to the tool driver 704facilitates communication and power transfer between the tool driver 704and the drive housing 408. More specifically, mating the drive housing408 to the tool driver 704 places the internal computer 722 incommunication with the computer system 706, which allows the computersystem 706 to identify and authenticate the surgical tool 400 (FIG. 4)or otherwise associate the surgical tool 400 with data stored elsewherein the robotic surgical system. In some embodiments, to facilitatecommunication and power transfer between the tool mounting portion 702and the tool driver 704, the tool mounting portion 702 may include oneor more electrical connectors 718 (two shown) configured to mate withcorresponding electrical connections 720 (two shown) provided by thetool driver 704 to.

Alternately, or in addition thereto, the drive housing 408 can beinductively (or “magnetically) coupled to the tool driver 704 tofacilitate wireless communication and power transfer between the twostructures. In at least one embodiment, for example, the drive housing408 may be inductively coupled to the tool driver 704 using a near fieldcommunication (NFC) connection or protocol. In other embodiments,however, the drive housing 408 may be inductively coupled to the tooldriver 704 via other wireless communication protocols.

In the illustrated embodiment, a first or “transmitting” inductor coil728 a (shown in dashed lines) may be included on the tool driver 704,and a corresponding second or “receiving” inductor coil 728 b (shown indashed lines) may be included on the drive housing 408, such as beingarranged on the tool mounting portion 702. The first inductor coil 728 amay be communicably coupled to the computer system 706, and the secondinductor coil 728 b may be communicably coupled to the internal computer722 of the drive housing 408. Once the first and second inductor coils728 a,b are inductively coupled, data may be transferred between thecomputer system 706 and the internal computer 722.

The first inductor coil 728 a may be operated and powered by thecomputer system 706 and configured to generate (emit) a magnetic field,which induces an electromotive force (i.e., a voltage or a current) inthe adjacent second inductor coil 728 b. Based on the changing intensityof the magnetic field, the generated electromotive force can beinterpreted by the internal computer 722 to transmit data between thetwo structures. Moreover, the generated electromotive force may beharvested in the form of electrical power, which may be used to powerthe circuitry of the internal computer 722.]

According to embodiments of the present disclosure, the inductivecoupling between the drive housing 408 and the tool driver 704 may alsobe used to determine when the manual knife bailout system of thesurgical tool 400 (FIG. 4) is activated or about to be activated. Morespecifically, embodiments of the present disclosure rely on the effectthat a magnetically responsive material (e.g., conductive or ferrousmaterials) can have on the magnetic field generated by the inductivecoupling. One or more component parts of the drive housing 408 used toactivate the manual knife bailout system may include or otherwise bemade of a magnetically responsive material. When such component partsare physically moved, a disturbance in the magnetic field may bedetected, and that may provide a positive indication that the manualknife bailout system is being activated. In some embodiments, once thedisturbance is detected, the user (i.e., a surgeon, a scrub nurse, etc.)may be informed of the status change and subsequently provided withinstructions on how to complete the knife bailout procedure or otherwiseinstructions on how to reverse commencement of the knife bailoutprocedure.

FIGS. 8A and 8B are cross-sectional side views of the drive housing 408inductively coupled to the tool driver 704, according to one or moreembodiments. FIGS. 8A-8B also depict various component parts of themanual knife bailout system, including the bailout tool 602 and thebailout cap 604. In the illustrated embodiment, the bailout tool 602 isstored within the drive housing 408 and seated (received) within thepocket 610. The user can access the bailout tool 602 by first removingthe bailout panel 608. The bailout tool 602 can then be removed from thepocket 610 and mated to the bailout cap 604 to rotate the bailout cap604 and thereby manually retract the knife (not shown). As mentionedabove, rotating (driving) the bailout cap 604 in the first direction(e.g., counter-clockwise) will cause an interconnected firing rod 802(shown in dashed lines) to retract proximally, as indicated by the arrowA in FIG. 8B. The knife may be operatively coupled to the distal end ofthe firing rod 802 at the end effector 404 (FIG. 4), and proximalmovement of the firing rod 802 correspondingly retracts the knife in theproximal direction A.

Mounting the drive housing 408 to the tool driver 704 places the secondinductor coil 728 b of the drive housing 408 in proximity to the firstinductor coil 728 a of the tool driver 704. As controlled by thecomputer system 706 (FIG. 7, the first inductor coil 728 a may beconfigured to generate (emit) a magnetic field 804 that propagatesradially outward. As briefly described above, the magnetic field 804 maybe received or otherwise sensed by the second inductor coil 728 b tofacilitate data transmission and electrical power transfer (i.e.,voltage or current) to the circuitry of the internal computer 722 (FIG.7).

In some embodiments, as illustrated, one or more component parts of themanual knife bailout system may be made of or otherwise include amagnetically responsive material 806 that causes field distortions 808in the magnetic field 804. The magnetically responsive material 806 maycomprise any magnetically responsive material capable of distorting ordisrupting the magnetic field 804. The magnetically responsive material806 may comprise, for example, a conductive metal such as, but notlimited to, silver, copper, gold, aluminum, zinc, nickel, brass, bronze,a ferrous metal (e.g., iron, carbon steel, stainless steel, etc.),platinum, lead, any alloy thereof, or any combination thereof. Themagnetically responsive material 806 may alternatively comprise aconductive polymer, graphite, carbon fibers, or any combination thereof.

In some embodiments, all or a portion of one or more of the bailout tool602, the bailout panel 608, and the firing rod 802 may be made of themagnetically responsive material 806. In other embodiments, themagnetically responsive material 806 may be included with or otherwiseattached to one or more of the bailout tool 602, the bailout panel 608,and the firing rod 802. The magnetically responsive materials 806 willdistort the magnetic field 804 and generate field distortions 808 thatmay be measured or otherwise sensed by the second inductor coil 728 b.

More specifically, the second inductor coil 728 b may be configured tomeasure the electromotive force (i.e., a voltage or a current) generatedwithin the second inductor coil 728 b; i.e., how much electricalpotential is resulting in the second inductor coil 728 b due to themagnetic field 804. Because the electrical potential is driven by howmuch magnetic flux is driven through the second inductor coil 728 b, themeasured electrical potential can also serve as a measurement of themagnetic flux in the second inductor coil 728 b. The magneticallyresponsive materials 806 will distort the magnetic flux of the magneticfield 804 depending on the position of the magnetically responsivematerials 806 within the magnetic field 804. If the physical position ofthe magnetically responsive materials 806 changes, the magnetic flux ofthe magnetic field 804 will correspondingly change and the secondinductor coil 728 b will be able to detect the alteration and positionchange.

Referring to FIG. 8A, the component parts of the manual knife bailoutsystem are properly stowed and otherwise in position for normal use ofthe surgical tool 400 (FIG. 4). When the drive housing 408 is firstinstalled on the tool driver 704, the intensity of the magnetic field804 and the resulting field distortions 808 generated by themagnetically responsive materials 806 included with the component partsof the manual knife bailout system may be measured and recorded. Thisdata may be stored (logged) by the computer system 706 (FIG. 7) or theinternal computer 722 (FIG. 7) to provide a normal operating state forthe surgical tool 400, and any variation from this normal operatingstate may provide an indication that the manual knife bailout system hasbeen activated or is about to be activated. Alternatively, the memory224 of the internal computer 722 may already have stored therein knownfield distortions 808 generated in the magnetic field 804 when the drivehousing 408 is coupled to the tool driver 704 and in the normaloperating state. In such embodiments, the computer system 706 (FIG. 6)may interpret the measured magnetic field 804 and associated fielddistortions 808 and recognize the surgical tool 400 based on themeasured magnetic field 804 and associated field distortions 808.

The intensity of the magnetic field 804 may then be continuouslymonitored and measured by one or both of the computer system 706 (FIG.7) and the internal computer 722 (FIG. 7). In some embodiments, thereal-time intensity of the magnetic field 804 may then be comparedagainst the intensity corresponding to the normal operating state andone or more predetermined intensity thresholds. The predeterminedintensity thresholds may correspond to a known magnetic field 804 andassociated field distortion 808 resulting from a predetermined position(status) of the one or more component parts, which may might indicatewhen the manual knife bailout system of the surgical tool 400 (FIG. 4)has been activated or is about to be activated. The predeterminedintensity thresholds that may be stored in the memory of the computersystem 706 or the internal memory 724 (FIG. 7) of the internal computer722. The predetermined position of the one or more component parts caninclude, but is not limited to, 1) the bailout tool 602 and the bailoutpanel 608 are present, 2) the bailout tool 602 is present but thebailout panel 608 is removed, 3) the bailout panel 608 is present butthe bailout tool 602 is removed, 4) both the bailout tool 602 and thebailout panel 608 are removed, 5) the firing rod 802 is located in anextended position, and 6) the firing rod 802 is located in an retractedposition.

In FIG. 8B, the bailout tool 602, the bailout panel 608, and the firingrod 802 have each been physically moved relative to the drive housing408 and the magnetic field 804, and the field distortions 808 caused bythe magnetically responsive material 806 corresponding to each componentpart has correspondingly changed. In the illustrated scenario, thebailout tool 602 and the bailout panel 608 have each been moved out ofthe range of the magnetic field 804, thus eliminating any fielddistortions 808 that might be attributable to the presence of thebailout tool 602 and the bailout panel 608. In such cases, the measuredintensity of the magnetic field 804 will correspondingly change, whichmay provide a positive indication that the bailout tool 602 and thebailout panel 608 have each been removed from the drive housing 408.Moreover, in the illustrated scenario, the firing rod 802 has movedproximally A, which also alters the resulting field distortions 808 andthe measured intensity of the magnetic field 804, which may provide apositive indication that the firing rod 802 has moved to the retractedposition (state).

If the computer system 706 (FIG. 7) determines that the manual knifebailout system has been activated, the computer system 706 (FIG. 7) maybe programmed and otherwise configured to notify the user (i.e., asurgeon, a scrub nurse, etc.) of the status change. In some embodiments,the notification may comprise a visual notification provided on thevisual display 206 (FIG. 2), but in other embodiments the notificationmay be audible or tactile (i.e., felt through the user input devicesheld by the surgeon). In at least one embodiment, the notification mayprovide the user with instructions on how to successfully complete themanual knife bailout procedure or otherwise instructions on how toreverse commencement of the bailout procedure (e.g., instructions on howto replace the bailout tool 604 and/or the bailout panel 608).

If it is determined that one or more of the component parts of themanual knife bailout system is missing and otherwise outside of therange of the magnetic field 804, the computer system 706 (FIG. 7) mayfurther be programmed and otherwise configured to send an alert ornotice to ensure an accurate accounting for the missing objects. Thismay prove advantageous in avoiding potential loss of tool objects orparts in the patient.

While the preceding discussion mentions the bailout tool 602, thebailout panel 608, and the firing rod 802 as component parts of themanual knife bailout system that may affect the magnetic field 804, themanual knife bailout system may include additional component partsincluding, but not limited to various gears, racks, levers, etc.included within the drive housing 408. Accordingly, the presentdisclosure contemplates that any of the gears, racks, levers, etc. maybe made of the magnetically responsive material 806, or alternatively,the magnetically responsive material 806 may be attached thereto andequally affect the magnetic field 804 to indicate activation of themanual knife bailout system. Moreover, the principles of the presentdisclosure are not limited to monitoring the manual knife bailoutsystem, but may alternatively be applied to other mechanisms or devicesincluded in the drive housing 408. In such embodiments, each mechanismor device may have its own predetermined intensity thresholds that willtrigger tool-dependent responses when the magnetic field 804 isdistorted.

Instead of measuring the intensity of the magnetic field 804 on thesecond inductor coil 728 b to determine when the component parts of themanual knife bailout system are present or removed, it is alsocontemplated herein to measure the electromotive force (i.e., voltage orcurrent) generated in the second inductor coil 728 b. Alternatively, thephase delay of the magnetic field 804 may be measured to determine whenthe component parts of the manual knife bailout system are present orremoved.

FIG. 9 illustrates an example embodiment of the computer system 706 ofFIG. 7. As shown, the computer system 706 includes one or moreprocessors 902, which can control the operation of the computer system706. “Processors” are also referred to herein as “controllers.” Theprocessor(s) 902 can include any type of microprocessor or centralprocessing unit (CPU), including programmable general-purpose orspecial-purpose microprocessors and/or any one of a variety ofproprietary or commercially available single or multi-processor systems.The computer system 706 can also include one or more memories 904, whichcan provide temporary storage for code to be executed by theprocessor(s) 902 or for data acquired from one or more users, storagedevices, and/or databases. The memory 904 can include read-only memory(ROM), flash memory, one or more varieties of random access memory (RAM)(e.g., static RAM (SRAM), dynamic RAM (DRAM), or synchronous DRAM(SDRAM)), and/or a combination of memory technologies.

The various elements of the computer system 706 can be coupled to a bussystem 906. The illustrated bus system 906 is an abstraction thatrepresents any one or more separate physical busses, communicationlines/interfaces, and/or multi-drop or point-to-point connections,connected by appropriate bridges, adapters, and/or controllers. Thecomputer system 706 can also include one or more network interface(s)908, one or more input/output (IO) interface(s) 910, and one or morestorage device(s) 912.

The network interface(s) 908 can enable the computer system 706 tocommunicate with remote devices, e.g., other computer systems, over anetwork, and can be, for non-limiting example, remote desktop connectioninterfaces, Ethernet adapters, and/or other local area network (LAN)adapters. The IO interface(s) 910 can include one or more interfacecomponents to connect the computer system 706 with other electronicequipment. For non-limiting example, the IO interface(s) 910 can includehigh speed data ports, such as universal serial bus (USB) ports, 1394ports, Wi-Fi, Bluetooth, etc. Additionally, the computer system 706 canbe accessible to a human user, and thus the IO interface(s) 910 caninclude displays, speakers, keyboards, pointing devices, and/or variousother video, audio, or alphanumeric interfaces. The storage device(s)912 can include any conventional medium for storing data in anon-volatile and/or non-transient manner. The storage device(s) 912 canthus hold data and/or instructions in a persistent state, i.e., thevalue(s) are retained despite interruption of power to the computersystem 706. The storage device(s) 912 can include one or more hard diskdrives, flash drives, USB drives, optical drives, various media cards,diskettes, compact discs, and/or any combination thereof and can bedirectly connected to the computer system 706 or remotely connectedthereto, such as over a network. In an exemplary embodiment, the storagedevice(s) 912 can include a tangible or non-transitory computer readablemedium configured to store data, e.g., a hard disk drive, a flash drive,a USB drive, an optical drive, a media card, a diskette, a compact disc,etc.

The elements illustrated in FIG. 9 can be some or all of the elements ofa single physical machine. In addition, not all of the illustratedelements need to be located on or in the same physical machine.Exemplary computer systems include conventional desktop computers,workstations, minicomputers, laptop computers, tablet computers,personal digital assistants (PDAs), mobile phones, and the like.

The computer system 706 can include a web browser for retrieving webpages or other markup language streams, presenting those pages and/orstreams (visually, aurally, or otherwise), executing scripts, controlsand other code on those pages/streams, accepting user input with respectto those pages/streams (e.g., for purposes of completing input fields),issuing HyperText Transfer Protocol (HTTP) requests with respect tothose pages/streams or otherwise (e.g., for submitting to a serverinformation from the completed input fields), and so forth. The webpages or other markup language can be in HyperText Markup Language(HTML) or other conventional forms, including embedded Extensible MarkupLanguage (XML), scripts, controls, and so forth. The computer system 706can also include a web server for generating and/or delivering the webpages to client computer systems.

In an exemplary embodiment, the computer system 706 can be provided as asingle unit, e.g., as a single server, as a single tower, containedwithin a single housing, etc. The single unit can be modular such thatvarious aspects thereof can be swapped in and out as needed for, e.g.,upgrade, replacement, maintenance, etc., without interruptingfunctionality of any other aspects of the system. The single unit canthus also be scalable with the ability to be added to as additionalmodules and/or additional functionality of existing modules are desiredand/or improved upon.

The computer system 706 can also include any of a variety of othersoftware and/or hardware components, including by way of non-limitingexample, operating systems and database management systems. Although anexemplary computer system is depicted and described herein, it will beappreciated that this is for the sake of generality and convenience. Inother embodiments, the computer system may differ in architecture andoperation from that shown and described here.

Embodiments disclosed herein include:

A. A robotic surgical tool includes a tool driver in communication witha computer system, a drive housing mountable to the tool driver andincluding one or more component parts made of or including amagnetically responsive material, a first inductor coil included on thetool driver and configured to generate a magnetic field, a secondinductor coil included on the drive housing and configured to measure anintensity of the magnetic field and a field distortion caused by the oneor more component parts, wherein a change in the field distortionprovides an indication of movement of the one or more component parts.

B. A method of operating a robotic surgical tool includes mounting adrive housing to a tool driver in communication with a computer system,the drive housing including one or more component parts made of orincluding a magnetically responsive material, inductively coupling thedrive housing to the tool driver by generating a magnetic field with afirst inductor coil included on the tool driver and sensing the magneticfield with a second inductor coil included on the drive housing,measuring an intensity of the magnetic field and a field distortioncaused by the one or more component parts with the second inductor coil,and detecting a change in the field distortion with the second inductorcoil and thereby providing an indication of movement of the one or morecomponent parts.

C. A robotic surgical tool includes a tool driver in communication witha computer system, a drive housing mountable to the tool driver andincluding a manual knife bailout system that includes one or morecomponent parts selected from the group consisting of a bailout tool, abailout panel, and a firing rod, wherein at least one of the one or morecomponent parts is made of or includes a magnetically responsivematerial, a first inductor coil included on the tool driver andconfigured to generate a magnetic field, a second inductor coil includedon the drive housing and configured to measure an intensity of themagnetic field and a field distortion caused by the one or morecomponent parts, wherein a change in the field distortion provides anindication of movement of at least one of the bailout tool, the bailoutpanel, and the firing rod.

Each of embodiments A, B, and C may have one or more of the followingadditional elements in any combination: Element 1: wherein themagnetically responsive material comprises a magnetically responsivematerial selected from the group consisting of conductive metal, aconductive polymer, graphite, carbon fibers, and any combinationthereof. Element 2: wherein the drive housing further includes aninternal computer in communication with the second inductor coil andprogrammed to process the intensity of the magnetic field and the changein the field distortion. Element 3: wherein the computer system isprogrammed to provide a notification when the change in the fielddistortion is detected. Element 4: wherein the notification comprises avisual notification provided on a visual display. Element 5: wherein thenotification comprises an audible or tactile notification. Element 6:wherein the one or more component parts of the drive housing form partof a manual knife bailout system, and wherein the measuring the changein the field distortion provides an indication that the manual knifebailout system has been activated.

Element 7: wherein the drive housing further includes an internalcomputer in communication with the second inductor coil, the methodfurther comprising processing the intensity of the magnetic field andthe change in the field distortion with the internal computer. Element8: further comprising providing a notification with the computer systemwhen the change in the field distortion is detected. Element 9: furthercomprising providing a visual notification on a visual display incommunication with the computer system. Element 10: wherein providingthe notification comprises providing an audible or tactile notification.Element 11: wherein measuring the intensity of the magnetic field andthe field distortion comprises measuring the intensity and the fielddistortion upon inductively coupling the drive housing to the tooldriver. Element 12: wherein measuring the intensity of the magneticfield and the field distortion comprises measuring the intensity and thefield distortion prior to inductively coupling the drive housing to thetool driver, and storing the intensity and the field distortion within amemory of an internal computer included in the drive housing. Element13: wherein detecting the change in the field distortion comprisescomparing the change in the field distortion with a predeterminedintensity threshold corresponding to a known magnetic field and a knownfield distortion resulting from a predetermined position of the one ormore component parts, and matching the change in the field distortionwith the predetermined intensity threshold.

Element 14: wherein the magnetically responsive material comprises amagnetically responsive material selected from the group consisting ofconductive metal, a conductive polymer, graphite, carbon fiber, and anycombination thereof. Element 15: wherein the bailout tool is storedwithin the drive housing and accessible by removing the bailout panel.Element 16: wherein the drive housing further includes a bailout cap andthe bailout tool is matable with the bailout cap, and wherein rotatingthe bailout tool correspondingly rotates the bailout cap, which causesthe firing rod to translate longitudinally. Element 17: wherein thecomputer system is programmed to provide a notification when the changein the field distortion is detected.

By way of non-limiting example, exemplary combinations applicable to A,B, and C include: Element 3 with Element 4; Element 3 with Element 5;Element 8 with Element 9; and Element 8 with Element 10.

Therefore, the disclosed systems and methods are well adapted to attainthe ends and advantages mentioned as well as those that are inherenttherein. The particular embodiments disclosed above are illustrativeonly, as the teachings of the present disclosure may be modified andpracticed in different but equivalent manners apparent to those skilledin the art having the benefit of the teachings herein. Furthermore, nolimitations are intended to the details of construction or design hereinshown, other than as described in the claims below. It is thereforeevident that the particular illustrative embodiments disclosed above maybe altered, combined, or modified and all such variations are consideredwithin the scope of the present disclosure. The systems and methodsillustratively disclosed herein may suitably be practiced in the absenceof any element that is not specifically disclosed herein and/or anyoptional element disclosed herein. While compositions and methods aredescribed in terms of “comprising,” “containing,” or “including” variouscomponents or steps, the compositions and methods can also “consistessentially of” or “consist of” the various components and steps. Allnumbers and ranges disclosed above may vary by some amount. Whenever anumerical range with a lower limit and an upper limit is disclosed, anynumber and any included range falling within the range is specificallydisclosed. In particular, every range of values (of the form, “fromabout a to about b,” or, equivalently, “from approximately a to b,” or,equivalently, “from approximately a-b”) disclosed herein is to beunderstood to set forth every number and range encompassed within thebroader range of values. Also, the terms in the claims have their plain,ordinary meaning unless otherwise explicitly and clearly defined by thepatentee. Moreover, the indefinite articles “a” or “an,” as used in theclaims, are defined herein to mean one or more than one of the elementsthat it introduces. If there is any conflict in the usages of a word orterm in this specification and one or more patent or other documentsthat may be incorporated herein by reference, the definitions that areconsistent with this specification should be adopted.

As used herein, the phrase “at least one of” preceding a series ofitems, with the terms “and” or “or” to separate any of the items,modifies the list as a whole, rather than each member of the list (i.e.,each item). The phrase “at least one of” allows a meaning that includesat least one of any one of the items, and/or at least one of anycombination of the items, and/or at least one of each of the items. Byway of example, the phrases “at least one of A, B, and C” or “at leastone of A, B, or C” each refer to only A, only B, or only C; anycombination of A, B, and C; and/or at least one of each of A, B, and C.

What is claimed is:
 1. A robotic surgical tool, comprising: a tooldriver; a drive housing inductively coupled to the tool driver whenmounted to the tool driver and generating a magnetic field, the drivehousing including one or more component parts made of or including amagnetically responsive material; and a computer system programmed toprocess an intensity of the magnetic field and a field distortion causedby the one or more component parts, and further programmed to generate anotification when the field distortion changes.
 2. The robotic surgicalsystem of claim 1, wherein the notification comprises a visualnotification provided on a visual display.
 3. The robotic surgicalsystem of claim 2, wherein the visual notification comprisesinstructions on how to complete or reverse a bailout procedure.
 4. Therobotic surgical system of claim 1, wherein the notification comprisesan audible or tactile notification.
 5. The robotic surgical system ofclaim 1, further comprising: a transmitter mounted to one of the tooldriver and the drive housing and configured to generate the magneticfield; and a receiver mounted to the other of the tool driver and thedrive housing and configured to sense the intensity of the magneticfield and the field distortion.
 6. The robotic surgical system of claim5, wherein the transmitter comprises a first inductor coil, and thereceiver comprises a second inductor coil.
 7. The robotic surgicalsystem of claim 1, wherein a change in the field distortion is anindication of movement of the one or more component parts.
 8. Therobotic surgical system of claim 1, wherein the one or more componentparts of the drive housing form part of a manual knife bailout system,and wherein the field distortion changes when the manual knife bailoutsystem has been activated.
 9. A method of operating a robotic surgicaltool, comprising: mounting a drive housing to a tool driver, the drivehousing including one or more component parts made of or including amagnetically responsive material; inductively coupling the drive housingto the tool driver and generating a magnetic field and a fielddistortion caused by the one or more component parts; processing with acomputer system an intensity of the magnetic field and the fielddistortion; and generating a notification with the computer system whenthe field distortion changes.
 10. The method of claim 9, furthercomprising moving one of the one or more component parts and therebygenerating a change in the field distortion.
 11. The method of claim 9,wherein generating the notification comprises providing a visualnotification on a visual display in communication with the computersystem.
 12. The method of claim 9, wherein generating the notificationcomprises providing an audible or tactile notification.
 13. The methodof claim 9, wherein processing the intensity of the magnetic field andthe field distortion comprises: measuring the intensity and the fielddistortion prior to inductively coupling the drive housing to the tooldriver; and storing the intensity and the field distortion within amemory of an internal computer included in the drive housing.
 14. Themethod of claim 9, further comprising detecting a change in the fielddistortion by: comparing the change in the field distortion with apredetermined intensity threshold corresponding to a known magneticfield and a known field distortion resulting from a predeterminedposition of the one or more component parts; and matching the change inthe field distortion with the predetermined intensity threshold.
 15. Arobotic surgical tool, comprising: a tool driver; a drive housinginductively coupled to the tool driver when mounted thereto andgenerating a magnetic field, the drive housing including a manual knifebailout system that includes one or more component parts selected fromthe group consisting of a bailout tool, a bailout panel, and a firingrod, wherein at least one of the one or more component parts is made ofor includes a magnetically responsive material; a computer systemprogrammed to process an intensity of the magnetic field and a fielddistortion caused by the one or more component parts, and furtherprogrammed to generate a notification when the field distortion changes.16. The robotic surgical system of claim 15, wherein the notificationcomprises a visual notification provided on a visual display.
 17. Therobotic surgical system of claim 16, wherein the visual notificationcomprises instructions on how to complete or reverse a bailoutprocedure.
 18. The robotic surgical system of claim 15, wherein thenotification comprises an audible or tactile notification.
 19. Therobotic surgical system of claim 15, further comprising: a transmittermounted to one of the tool driver and the drive housing and configuredto generate the magnetic field; and a receiver mounted to the other ofthe tool driver and the drive housing and configured to sense theintensity of the magnetic field and the field distortion.